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<h1>src/qvmath/qveuclideanmapping3.h</h1><a href="qveuclideanmapping3_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#ifndef QVEUCLIDEANMAPPING3_H</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#define QVEUCLIDEANMAPPING3_H</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00028"></a>00028 <span class="preprocessor">#include &lt;QVMatrix&gt;</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include &lt;QV3DPointF&gt;</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;qvmath.h&gt;</span>
<a name="l00031"></a>00031 
<a name="l00044"></a><a class="code" href="classQVEuclideanMapping3.html">00044</a> <span class="keyword">class </span><a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a>
<a name="l00045"></a>00045         {
<a name="l00046"></a>00046         <span class="keyword">private</span>:
<a name="l00047"></a>00047                 <a class="code" href="classQVQuaternion.html" title="Implementation of quaternions.">QVQuaternion</a>    q;
<a name="l00048"></a>00048                 <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a>      t;
<a name="l00049"></a>00049 
<a name="l00050"></a>00050         <span class="keyword">public</span>:
<a name="l00052"></a><a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df">00052</a>                 <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(): q(), t() { }
<a name="l00053"></a>00053 
<a name="l00055"></a><a class="code" href="classQVEuclideanMapping3.html#a3891f71137a302d43d89dc8b3a624bde">00055</a>                 <a class="code" href="classQVEuclideanMapping3.html#a3891f71137a302d43d89dc8b3a624bde" title="Copy constructor.">QVEuclideanMapping3</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other): q(other.q), t(other.t)   { }
<a name="l00056"></a>00056 
<a name="l00060"></a><a class="code" href="classQVEuclideanMapping3.html#afd3d1afc10b277ab06d40aaf3087d0dc">00060</a>                 <a class="code" href="classQVEuclideanMapping3.html#afd3d1afc10b277ab06d40aaf3087d0dc" title="Initialization from a quaternion rotation, and a translation vector.">QVEuclideanMapping3</a>(<span class="keyword">const</span> <a class="code" href="classQVQuaternion.html" title="Implementation of quaternions.">QVQuaternion</a> &amp;q, <span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> &amp;t): q(q), t(t)     { }
<a name="l00061"></a>00061 
<a name="l00071"></a><a class="code" href="classQVEuclideanMapping3.html#a6824a43812219a34d29d7eb512d9294f">00071</a>                 <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> quatx, <span class="keyword">const</span> <span class="keywordtype">double</span> quaty, <span class="keyword">const</span> <span class="keywordtype">double</span> quatz, <span class="keyword">const</span> <span class="keywordtype">double</span> quatw,
<a name="l00072"></a>00072                                 <span class="keyword">const</span> <span class="keywordtype">double</span> tx, <span class="keyword">const</span> <span class="keywordtype">double</span> ty, <span class="keyword">const</span> <span class="keywordtype">double</span> tz):
<a name="l00073"></a>00073                                 q(quatx, quaty, quatz, quatw), t(tx, ty, tz)
<a name="l00074"></a>00074                                 { }
<a name="l00075"></a>00075 
<a name="l00081"></a><a class="code" href="classQVEuclideanMapping3.html#abd90c44b323ba1313c5f4f0ea3e54d2d">00081</a>                 <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(<span class="keyword">const</span> <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> &amp;v): q(v[0], v[1], v[2], v[3]), t(v[4], v[5], v[6])
<a name="l00082"></a>00082                         { }
<a name="l00083"></a>00083 
<a name="l00088"></a>00088                 <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(<span class="keyword">const</span> <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> &amp;Rt);
<a name="l00089"></a>00089 
<a name="l00093"></a><a class="code" href="classQVEuclideanMapping3.html#ac571ddc6c4f7c05faf81aae1e67b3d5f">00093</a>                 <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> <a class="code" href="classQVEuclideanMapping3.html#ac571ddc6c4f7c05faf81aae1e67b3d5f" title="Applies the euclidean transformation for the point.">apply</a>(<span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> &amp;X)<span class="keyword"> const </span>
<a name="l00094"></a>00094 <span class="keyword">                        </span>{
<a name="l00095"></a>00095                         <span class="keywordflow">return</span> q.<a class="code" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c" title="Direct vector rotation.">rotate</a>(X) + t;
<a name="l00096"></a>00096                         }
<a name="l00097"></a>00097 
<a name="l00103"></a><a class="code" href="classQVEuclideanMapping3.html#a4f121b8e3fd1b7abf8748f07ae11c888">00103</a>                 <a class="code" href="classQVEuclideanMapping3.html#a4f121b8e3fd1b7abf8748f07ae11c888" title="Cast to a 7-size vector.">operator QVVector</a>()<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword">                        </span>{
<a name="l00105"></a>00105                         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> result(7);
<a name="l00106"></a>00106 
<a name="l00107"></a>00107                         result[0] = q[0];
<a name="l00108"></a>00108                         result[1] = q[1];
<a name="l00109"></a>00109                         result[2] = q[2];
<a name="l00110"></a>00110                         result[3] = q[3];
<a name="l00111"></a>00111 
<a name="l00112"></a>00112                         result[4] = t[0];
<a name="l00113"></a>00113                         result[5] = t[1];
<a name="l00114"></a>00114                         result[6] = t[2];
<a name="l00115"></a>00115 
<a name="l00116"></a>00116                         <span class="keywordflow">return</span> result;
<a name="l00117"></a>00117                         }
<a name="l00118"></a>00118 
<a name="l00121"></a><a class="code" href="classQVEuclideanMapping3.html#a2e6704756a86d69a60b043695a238699">00121</a>                 <span class="keywordtype">bool</span> <a class="code" href="classQVEuclideanMapping3.html#a2e6704756a86d69a60b043695a238699" title="Equality compare operator.">operator ==</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other)<span class="keyword"> const</span>
<a name="l00122"></a>00122 <span class="keyword">                        </span>{
<a name="l00123"></a>00123                         <span class="keywordflow">return</span> (q == other.q and t == other.t);
<a name="l00124"></a>00124                         }
<a name="l00125"></a>00125 
<a name="l00128"></a><a class="code" href="classQVEuclideanMapping3.html#a4affc977b2f668d857d0cf0dcad05770">00128</a>                 <span class="keywordtype">bool</span> <a class="code" href="classQVEuclideanMapping3.html#a4affc977b2f668d857d0cf0dcad05770" title="Inequality compare operator.">operator !=</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other)<span class="keyword"> const</span>
<a name="l00129"></a>00129 <span class="keyword">                        </span>{
<a name="l00130"></a>00130                         <span class="keywordflow">return</span> (q != other.q or t != other.t);
<a name="l00131"></a>00131                         }
<a name="l00132"></a>00132 
<a name="l00137"></a><a class="code" href="classQVEuclideanMapping3.html#a38a8068d953454ddaf0ef3ff975b9804">00137</a>                 <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> <a class="code" href="classQVEuclideanMapping3.html#a38a8068d953454ddaf0ef3ff975b9804" title="Cast to a Rotation-translation matrix.">toRotationTranslationMatrix</a>()<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword">                        </span>{
<a name="l00139"></a>00139                         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> Rt = <a class="code" href="classQVMatrix.html#a6eb15980d17c17d4a55ab09a77bcd715" title="Creates an identity matrix.">QVMatrix::identity</a>(4);
<a name="l00140"></a>00140                         <span class="keyword">const</span> <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> R = q.<a class="code" href="classQVQuaternion.html#a00c343b8018cfc98536b13ff31341751" title="Gets the rotation matrix corresponding to the Quaternion.">toRotationMatrix</a>();
<a name="l00141"></a>00141                         
<a name="l00142"></a>00142                         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)
<a name="l00143"></a>00143                                 {
<a name="l00144"></a>00144                                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)
<a name="l00145"></a>00145                                         Rt(i,j) = R(i,j);
<a name="l00146"></a>00146                                 Rt(i,3) = t[i];
<a name="l00147"></a>00147                                 }
<a name="l00148"></a>00148 
<a name="l00149"></a>00149                         <span class="keywordflow">return</span> Rt;
<a name="l00150"></a>00150                         }
<a name="l00151"></a>00151 
<a name="l00153"></a><a class="code" href="classQVEuclideanMapping3.html#a56cd60e4bd4ca255855bc6eeaa9beea4">00153</a>                 <a class="code" href="classQVQuaternion.html" title="Implementation of quaternions.">QVQuaternion</a>    <a class="code" href="classQVEuclideanMapping3.html#a56cd60e4bd4ca255855bc6eeaa9beea4" title="Returns the rotation quaternion of the mapping.">getRotation</a>()<span class="keyword">           const   </span>{ <span class="keywordflow">return</span> q; }
<a name="l00154"></a>00154 
<a name="l00156"></a><a class="code" href="classQVEuclideanMapping3.html#aebfc6a4f42f4bdd7a9eb442c7c74048c">00156</a>                 <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a>      <a class="code" href="classQVEuclideanMapping3.html#aebfc6a4f42f4bdd7a9eb442c7c74048c" title="Returns the translation of the mapping.">getTranslation</a>()<span class="keyword">        const   </span>{ <span class="keywordflow">return</span> t; }
<a name="l00157"></a>00157 
<a name="l00159"></a><a class="code" href="classQVEuclideanMapping3.html#a6860de8604ce1846261d2c8056b19dfd">00159</a>                 <span class="keywordtype">void</span>    <a class="code" href="classQVEuclideanMapping3.html#a6860de8604ce1846261d2c8056b19dfd" title="Sets the rotation quaternion of the mapping.">setRotation</a>(<span class="keyword">const</span> <a class="code" href="classQVQuaternion.html" title="Implementation of quaternions.">QVQuaternion</a> &amp;other)  { q = other; }
<a name="l00160"></a>00160 
<a name="l00162"></a><a class="code" href="classQVEuclideanMapping3.html#aa96f1f838588196ee38ded4185db00a7">00162</a>                 <span class="keywordtype">void</span>    <a class="code" href="classQVEuclideanMapping3.html#aa96f1f838588196ee38ded4185db00a7" title="Sets the translation of the mapping.">setTranslation</a>(<span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> &amp;other) { t = other; }
<a name="l00163"></a>00163 
<a name="l00166"></a><a class="code" href="classQVEuclideanMapping3.html#af891d3f088eb8fb3eb6ad9c0b9144b82">00166</a>                 <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> <a class="code" href="classQVEuclideanMapping3.html#af891d3f088eb8fb3eb6ad9c0b9144b82" title="Computes the inverse of the mapping.">inverse</a>()<span class="keyword"> const</span>
<a name="l00167"></a>00167 <span class="keyword">                        </span>{
<a name="l00168"></a>00168                         <span class="keyword">const</span> <a class="code" href="classQVQuaternion.html" title="Implementation of quaternions.">QVQuaternion</a> qInv = q.<a class="code" href="classQVQuaternion.html#a50fdd28714a4034db3ba71dbd0a3af7f" title="Gets the inverse of the quaternion.">inverse</a>();
<a name="l00169"></a>00169                         <span class="keywordflow">return</span> <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(qInv, <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a>(qInv.<a class="code" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c" title="Direct vector rotation.">rotate</a>(t)) * (-1));
<a name="l00170"></a>00170                         }
<a name="l00171"></a>00171 
<a name="l00174"></a><a class="code" href="classQVEuclideanMapping3.html#a0f7986ac48c1fe02d6b75b15824fcaeb">00174</a>                 <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> <a class="code" href="classQVEuclideanMapping3.html#a0f7986ac48c1fe02d6b75b15824fcaeb" title="Composes two euclidean mappings.">compose</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other)<span class="keyword"> const</span>
<a name="l00175"></a>00175 <span class="keyword">                        </span>{
<a name="l00176"></a>00176                         <span class="keywordflow">return</span> <a class="code" href="classQVEuclideanMapping3.html#a76a1d70036100c41eec91c7d9e2438df" title="Default constructor.">QVEuclideanMapping3</a>(q * other.q, q.<a class="code" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c" title="Direct vector rotation.">rotate</a>(other.t) + t);
<a name="l00177"></a>00177                         }
<a name="l00178"></a>00178 
<a name="l00181"></a><a class="code" href="classQVEuclideanMapping3.html#a4509a773df1a3222e7eeab391091ca6c">00181</a>                 <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> <a class="code" href="classQVEuclideanMapping3.html#a4509a773df1a3222e7eeab391091ca6c" title="Composes two euclidean mappings.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other)<span class="keyword"> const           </span>{ <span class="keywordflow">return</span> <a class="code" href="classQVEuclideanMapping3.html#a0f7986ac48c1fe02d6b75b15824fcaeb" title="Composes two euclidean mappings.">compose</a>(other);        };
<a name="l00182"></a>00182 
<a name="l00191"></a><a class="code" href="classQVEuclideanMapping3.html#a10e232d54b6cb66b28ecd5139d8db794">00191</a>                 <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> <a class="code" href="classQVEuclideanMapping3.html#a10e232d54b6cb66b28ecd5139d8db794" title="Divides an euclidean mapping by another one.">operator/</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;other)<span class="keyword"> const           </span>{ <span class="keywordflow">return</span> <a class="code" href="classQVEuclideanMapping3.html#a0f7986ac48c1fe02d6b75b15824fcaeb" title="Composes two euclidean mappings.">compose</a>(other.<a class="code" href="classQVEuclideanMapping3.html#af891d3f088eb8fb3eb6ad9c0b9144b82" title="Computes the inverse of the mapping.">inverse</a>());      };
<a name="l00192"></a>00192         };
<a name="l00193"></a>00193 <span class="preprocessor">#endif</span>
</pre></div></div>
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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
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